Two-dimensional-laser real-time detection method of workpiece surface profile

Abstract

The invention provides a two-dimensional-laser real-time detection method of a workpiece surface profile. Aiming at profile point data of an environment or a target object, wherein the profile point data is acquired by a 2D laser sensor, firstly using an adaptive threshold IEPF algorithm to carry out over-segmentation on the profile point data; then, constructing an undirected graph, taking over-segmentation point set data as a undirected graph node, taking an over-segmentation point set fusion probability as a side of the undirected graph and calculating a fusion probability value; and then, constructing and segmenting an energy function of the undirected graph, providing an energy function minimization solution and acquiring a fusion result of the over-segmentation point set, wherein the fusion result of the over-segmentation point set is a line segment fitting result of point data; finally, using prior knowledge and a shape template to calculate a line segment fitting result so as to acquire a shape detection result. By using the method, disadvantages that a traditional algorithm is sensitive to a threshold and a data noise and robustness is not high are overcome; the method can be used for detection of a specific-shape workpiece of an industrial robot arm, autonomous motion robot scene understanding, unmanned vehicle environment cognition and other hot spot problems.

Description

technical field [0001] The invention relates to the technical fields of 2D laser sensors, laser radar sensors, signal processing, and undirected graph clustering, in particular to a two-dimensional laser real-time detection method for workpiece surface contours. Background technique [0002] For industrial robotic arms, autonomous mobile robots, unmanned vehicles and many other fields, environmental perception is a must-have basic capability. Different sensors are used for environment perception by mimicking the human perception mechanism. Among them, the laser sensor is widely used in various systems because of its high measurement accuracy and good real-time performance. Industrial robotic arms mostly use 2D laser sensors, while autonomous mobile robots and unmanned vehicles mostly use multi-line lidar. The key to environmental perception is to use laser sensors to scan the environment or targets, obtain the contour distance data of the environment or targets, and extrac...

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Problems solved by technology

[0006] In order to solve the above-mentioned problems in the prior art, the object of the present invention is to provide a two-dimensional laser real-time detection method for the surface contour of the workpiece, which solves the problem that the current common methods cannot extract straight line features from laser data stably and robustly. problem, and use this method in the shape detection of laser sensor contour data to provide a basis for subsequent data processing, decision-making and control

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